Delta Tau Korea

701-ho, Unitech Vil.

Baekseok, Ilsan, Koyang

Kyungki-Do

South Korea 411-722

tel + 82 31 813 6156

fax + 82 31 813 6155

www.deltatau.co.kr

Delta Tau Data Systems, Inc

21314 Lassen Street

Chatsworth, CA 91311

USA

tel +1 818 998 2095

fax +1 818 998 7807

sales@deltatau.com

www.deltatau.com

Delta Tau China Co Ltd

C-1608 Focus Square

6 E. Futong Street

Chaoyang District

Beijing, China, 100102

tel +86 10 64392833/64392860

fax +86 10 64392860 x18

www.deltatau-china.com

Delta Tau Europa AG

Gewerbestrasse 8

CH-8212 Neuhausen

Switzerland

tel +41 52 633 04 40

fax +41 52 633 04 50

www.deltatau.ch

Delta Tau India Pvt Ltd

Shop B2, Yakshanagari

221, Kothrud

Pune 411038

India

tel +91 20 2538 6001

Delta Tau South East Asia PTE Ltd

No1, Yishun Street 23 #05-38/37

Singapore 768441

tel +65 6455 9500

fax +65 6756 2587

Delta Tau UK Ltd

Unit 2 Faraday Close

Gorse Lane Ind Est

Clacton on Sea CO15 4TR

England

tel +44 1255 221 055

fax +44 1255 225 391

www.deltatau.co.uk

PMAC Japan

3-6-7, Nihonbashi Ningyocho

Chuo-Ku

Tokyo 103-0013

Japan

tel + 81 3 3665 6421

fax + 81 3 3665 6888

www.pmac-japan.co.jp

With over 30 years of motion control experience, Delta Tau is the leader for

innovative, high-performance, machine-control solutions. Controlling over a

million axes of motion, Delta Tau is dedicated to providing solutions for the

simplest to the most complex applications in the world.

From the beginning, our main focus has been meeting customer requirements

with both the highest reliability and ROI. Operating out of a modern 120,000

square-foot building, Delta Tau takes pride in its manufacturing process, the

very latest in SMT manufacturing, and automated inspection and testing. The

result is delivering the highest quality products with the fastest lead time.

By developing tomorrow’s technology today, and delivering easy-to-use and

cost-effective products, Delta Tau can provide solutions that solve your tough

automation problems and keep you a step ahead of your competition.

Delta TauHeadquartersChatsworth, CaliforniaUSA

Delta Tau Europe

Branch O�cesTech CentersDistributors & Integrators

Delta Tau U.K.

Delta Tau India

Delta Tau SEA

PMAC Japan

Delta Tau Korea

Delta Tau China

www.deltatau.com

Worldwide Support

Worldwide Support

New Ideas in Motion...

Providing a Complete

Motion Control Solution

Semiconductor Manufacturing

Aerospace

Military

Machine Tool

Robotics

Packaging & Assembly

Positioning

Medical

Specialty

From the Simplest Application to the Most Complex and EVERYTHING in Between…

Industries / Applications

Semiconductor ManufacturingWafer Handling, Slicing, Stepping, Inspection, Die Bonding, Wire Bonding

AerospaceFlight Simulations, Turbine Blades, Manufacturing, Machine Tool

MilitaryAutonomous Vehicle Control, Positioning Systems, Robotics

Machine ToolMills, Lathes, Grinders, Engravers, EDM, Water Jet Cutting,

Turning Centers, Laser Cutting

RoboticsPick-and-Place, Process Production, Scara, Delta Robots, Hexapods

Packaging & AssemblyMixing, Cutting, Packaging, Sewing, Web Handling,

Conveyor Belt Synchronization

PositioningTelescope, Synchrotron, Inspection, Sub-Micron Operations,

DNA Sampling

MedicalRobotic Surgery, M.R.I. Machine, Laser Eye Surgery,

Optical Surface Grinding

SpecialtyWind Power, Hexapod, Robotics, Remote Machinery Control,

Printing on the Fly, Autonomous Vehicle Control

From Machine Logic to High-Performance Motion ControlDelta Tau Provides a Complete Automation Solution

Machine Logic PLC Capability Basic MotionYour

Application!ProcessControl

High Performance

Motion Control

Delta Tau’s Open Architecture platform provides complete flexibility to

choose the best possible components for your application. Choose from the

markets leading peripheral devices to create the ultimate control solution

without limiting your options.

… for a totally integrated solution that fits all of your application needs.

What Do You Want to Control?

CommunicationEthernet 1GB

USB

MACRO

EtherCAT

SSCNET

Modbus

FeedbackQuadrature encoder

Sin/Cos encoder

Absolute encoder

Serial Encoders:

EnDat 2.1/2.2, Sigma II/III,

Hiperface, Biss-B/C, SSI

Resolver

MLDT

Servo Interface +/- 10 VDC Analog

Position, Velocity, Torque

Direct PWM

Sinusoidal phase current

Pulse and Direction (Stepper)

I/ODigital12 VDC - 24 VDC @ 600mA

Analog

In: 12- or 16-Bit A/D

Out: 12-, 16- or 18-bit

0-10 VDC, +/- 5 VDC, or

+/- 10 VDC input range

Motors & Actuators Brush DC Stepper

Brushless AC/DC Hydraulic

AC Induction Voice Coil

Galvanometer Piezo

FieldbusesEtherNet/IP Adapter (Server)

DeviceNet (Master/Slave)

Profibus (Master/Slave)

CANOpen (Master/Slave)

CC-Link (Slave)

Any Delta Tau Machine Control Product

The Delta Tau Difference

Remaining focused on providing the highest performance machine control

system, Delta Tau offers many motion and servo loop capabilities that

differentiate us from the rest. All these features come standard in all our

Machine Control products.

MOTION CAPABILITIES

Dynamic Multi-Block Lookahead

• Evaluatesplannedtrajectoryagainstmotorlimits

• Slowsjustenoughtostaywithinposition,velocityandacceleration

limits without distorting the trajectory

• Executesfastestpossibletraversalwithinmachineconstraints

Forward and Inverse Kinematics

• Simplifiesprogrammingfornon-Cartesianmechanisms

• Userroutinesconvertbetweentooltipandactuatormechanisms

• Permitsdirectspecificationoftooltippath

S-curve Acceleration

• Automaticallylimitsrateofchangeofacceleration(jerk)

• SpecifiedbyjerkmagnitudeorS-curvetime

• Providessmoothprofileswithreducedhigh-frequencycontent

Position Capture and Compare

• Specializedcircuitrytyingencodercountstodigitaloutputs

• I/Oonexactcount(w/sub-countinterpolation)atanyspeed

• Forprobing,registration,measurementtrigger,laserfiring

Gantry Control with Skew Correction

• Automaticremovalofpower-onskewinhomingsearchsequence

• Followermotorautomaticallyfollowsleader

• Optionalcross-couplingservocorrection

Electronic Gearing and Cams

• Powerfulmaster/slavetechniques

• Positionfollowing(gearing)requiresnoprogramformotion

• Externaltimebase(cam)keepsfulltrajectoryflexibility

Multiple Coordinate Systems

• AxesactingtogethershouldbeinsameCoordinateSystem

• AxesactingindependentlyshouldbeinseparateCoordinateSystems

• SeparateCoordinateSystemsactasindependentmachines

Blended and Splined Moves

• Automaticon-the-flytransitionformultipleprogrammedmoves

• Controlled,specifiedaccelerationoftransitions

• Forsingle-axisprofilesormulti-axispaths

SERVO LOOP FEATURES

Adaptive Control

Power PMAC servo loop’s stiffness and damping factor may be

adjustedautomaticallyastheeffectivereflectedloadinertiachanges

without the need for special test inputs. This optional feature enables

a form of Adaptive Control in the presence of load inertia changes of

bounded nature (typically 1 to 5 times a normal value).

Advanced Standard PID and High Order Filters

Power PMAC’s standard servo loop control algorithm includes both

feedback and feedforward paths. In the feedback path, a position loop PID

filter is combined with a velocity loop (dual-sensor) PI, acceleration feedback

and a second-order low-pass filter. In addition, a 2-degree-of-freedom 7th

order discrete time filter is implemented in cascade in the position loop. This

2-degree-of-freedom filter may be used for implementation of classical ob-

servers or frequency-based notch filters. These include up to 3 notch filters

and a low pass filter. The feedforward path includes velocity and acceleration

feedforward with a second-order low-pass filter independent of the

feedback path. Low-pass filters are also available in the velocity

feedback and feedforward loops.

Custom Servo/Phase Algorithms

Power PMAC permits custom servo control algorithms to be implemented in C

instead of using the standard algorithm. Power PMAC IDE software includes

a C-cross compiler that provides an easy and quick tool for generation and

implementation of custom servo algorithms for any number of motors. C-code

can be automatically generated from tools such as MATLAB®/Simullink®.

Cascaded Servo Loops

With this technique, the output of one servo loop (one Power PMAC “motor”)

is used as an input to another servo loop, permitting both servo loops to affect

a single actuator. The outer loop does not directly drive an actuator; instead,

it dynamically modifies the set point of the inner loop in an effort to drive its

own error to zero. This technique has many possible uses; the most common

is to be able to close an auxiliary loop around a standard position loop. The

auxiliary loop controls some quantity affected by the position loop’s motion,

such as torque or force applied, or distance from a surface. The coupling of

the loops can be turned on or off, permitting easy switching between control

modes. Common uses of this technique include: web tensioning, torque-

limited screwdriving, metal bending, controlled-force part insertion and height

control over an uneven surface (e.g. for auto-focus).

Trajectory Prefilter

A 4th-order Trajectory Prefilter is included as a standard feature of Power

PMAC. The Trajectory Prefilter acts on the desired instantaneous trajectory

of a motor in order to band-stop, or “notch out”, certain frequencies that may

excite low frequency mechanical resonances. The Trajectory Prefilter operates

as a discrete-time recursive filter with its own programmable sampling period.

Delta Tau offers a wide variety of Machine Control products. From highly

integrated or embedded controllers to flexible and expandable Modular Rack

systems, Delta Tau will provide a hardware solution that is

right for your application.

…Put the power of Delta Tau to work for you with your next application.

A Complete Line of Machine Control Products

Delta Tau’s embedded control products are designed to be cost-

effective and highly integrated for high-volume, compact applications.

All Delta Tau products can be used standalone or can communicate to

the host PC via USB or Ethernet.

• BoardlevelcontrollerswithallthepowerofDeltaTau’sindustry-

leading motion control.

• Lowcost,flexible,andexpandable,offeringawidevarietyofoutput

control signals and communication protocols.

• Forcontrollingupto256axeswithunparalleledbuilt-infeatures

for any motion application.

• Totallydigitalcontrolprovidesboththehighestpossible

throughput and accuracy as well as low maintenance cost.

Referred to as UMAC systems (Universal Machine and Automation

Controller), Delta Tau’s Modular Rack systems are flexible, scalable

and expandable 3U-rack based systems. To configure, select from

our vast list of CPUs and accessories and create a system specifically

for your needs.

•User-selectableCPUorMACROfiberopticinterface,aswellas

Axis Interface boards, I/O, and communication interfaces (such as

USB, Ethernet, RS-232, etc.).

• Standardandhighlycustomizedmachinefunctionsperformedwitha

rich variety of available accessories.

• Racksareavailableinmanysizes,providingaULandCE-compliant,

rugged and integrated system.

Embedded Controllers Modular Rack Systems

Turbo Clipper

Power Brick Controller

Power UMAC (10 Slot)

Power UMAC (21 Slot)

Delta Tau Servo Amplifiers complement the controller product

lines and provide the power amplification to drive and support

a wide variety of motors and power ranges.

•Amplifiersareavailableinembeddedboardlevel(PCB-level),

enclosed panel mount, and UMAC rack mount formats.

•Virtuallyallinterfacesaresupportedincluding+/-10VDC,

Torque, Velocity, Direct PWM, Sinusoidal Phase Current,

and Pulse and Direction (Stepper).

•240-480VAC,1.5A/4.5A-30A/60A(Cont/Peak)

Drives

Delta Tau’s Intelligent Amplifiers combine the controller and

amplifier in a single fully-integrated, enclosed package.

The result is both powerful and versatile, allowing 1 to 8 channels

of power amplification for driving a wide variety of motor types.

• PowerBrickAC-4/6/8-Axis(Cont/Peak)

240 VAC, Single or 3-Phase Operation

Axes 1-4 & 7-8 5 A/10 A or 8 A/16 A (Cont/Peak)

Axes 5-6 15 A/30 A (Cont/Peak)

• PowerBrickLV-4/8-Axis

• TurboClipperDrive-4Axis

60 VDC, 4-phase operation at .25 A/.75 A, 1 A/3 A and 5 A/15 A

(Cont/Peak) Servo and Stepper Controller/Amplifier

• AdditionalaxescanbeaddedoverMACRO

• Built-inanaloganddigitalI/O

Intelligent Drives

Geo Direct PWM Drive Geo MACRO Drive

3U 042 Amplifier 3U AMP2

Turbo Clipper Drive

Power Brick LV

Power Brick AC (4 Axis) Power Brick AC (8 Axis)

Delta Tau provides all of the interface products necessary to

easily and effectively implement communication and control,

motion, and fieldbus networks.

•MACROisapowerfulEthernet-basedopenprotocolofferinga

full line of controllers, drives, and I/O solutions.

•Inaddition,DeltaTaufullysupportsEtherCAT,EtherNet/IP,SSCNET

Modbus, and a wide range of fieldbuses.

To aid customers in the integration and development process,

Delta Tau offers several software tools. Delta Tau’s Integrated

Development Environment (IDE) is unsurpassed in the industry

and comes standard with every Power PMAC.

• RunsonWindows™ XP, Vista, or 7/8 with an advanced editor

and built-in debugging features.

• Providesextensiveprojectandresourcemanagementfeatures,

integrated GNU C cross-compiler, and an interactive “terminal

mode” window.

• Manystatusandsetupwindows,alongwithtuningandgraphical

plotting screens simplifies the design, development, analysis, setup

and implementation of your application.

• TheseIDEcomponentscanbedirectlyincorporatedinyour

application with MS Visual Studio™.

Industrial Networks Software Tools

Power PMAC Etherlite Turbo PMAC2

Ethernet Ultralite

Geo MACRO Drive MACRO Peripheral I/O

Power PMAC IDE

Power PMAC NC

Controller Specifications

CPU HARDWARE SPECIFICATIONS

•Upto1.2GHzSingle/DualCore

•Fullreal-timeOperatingSystem(LinuxOSw/real-timekernel)

•Fullfilemanagementsystem(programs,data,files,etc.)

•DedicatedcontrollerrunsintheRTLinuxenvironment

•Full32/64-bitarchitecture

•Hardware64-bitdoubleprecisionfloatingpointmath

•Supportforverylargememory

•1GB/2GBDDRAMactivememorywitherrorcorrection

•64MBNORflashmemoryforstandardfirmware

•512MBbuilt-inNANDflashforusermemory(expandable)

•Built-inUSB2.0interface

•2ethernet1Gbpsports

•Optionaldirectvideointerface(DVI/HDMI)

MOTION SPECIFICATIONS

Number of Axes

Supports up to 256 motors simultaneously

Number of Coordinate systems

Up to 128 independent coordinate systems

Servo Loop Update Rate

•1-axis:upto60kHz

•4-axis:upto40kHz

•8-axis:upto20kHz

Encoder Update Rate

• 10 MHz line rate and 40 MHz count rate for standard A/B Quad with

Capture & Compare

Programmed Move Block Execution Rate

•Upto10,000Blocks/sec

Move Modes

•Blendedlinearandcircularinterpolationmodes

•Rapidpoint-to-point,triggered,alterablePVT,and

splinemoves,andon-the-flytransitionbetweenblendedand

modern spline modes

•Dynamic Lookahead for velocity and acceleration limiting

•Truejerkcontrol

Commutation Features

•SinusoidalcommutationofACservomotors

•VectorcontrolofACinductionmotors

•Digitalcurrent-loopclosurewithdirectPWMoutput

•UsercanwriteacustomcommutationalgorithminCifdesired

Compensation Tables and Methods

•1D, 2D, or 3D Compensation Tables with optional rollover

•3rd-orderinterpolationbetweenpointseveryservocycle

•Supportsupto256Comptables

•Torquecompensationtables

•Backlashcompensation

•Toolradiuscompensation:2D&3D

Number of I/O

•Supports thousands of I/O points

Servo Features

•StandarddigitalPIDfeedbackfilter

•Velocity,acceleration,andfrictionfeedforward

•7th-order polynomial filters

•Gainschangeableatanytime

•Programmableinput,integrator,andoutputlimits

•User-WrittenalgorithmsinCor MATLAB®/Simulink®

•Adaptivecontrol

•Cross-coupledgantrycontrol

Motion Program Features

•Automaticsequencedexecutionofmoves

•Automaticcoordinationofmultipleaxes

•AbilitytoexecuteG-code programs

•CalculationsandI/Ocanbesynchronizedtomotion

•Axescanbeprogrammedinuserengineeringunits

•Commandedaxispositionscanbeconstantsorexpressions

Coordinate Systems and Master/Slave Features

•User-definedcoordinatesystemsforautomaticcoordinationofaxes

•Separatecoordinatesystemsforindependentmotionofaxes

•Multi-motor axis support (e.g. gantries)

•Dynamicaxistransformations(e.g.offsets,rotations,mirroring)

•User-writtenkinematicalgorithmsfornon-Cartesiangeometries

•Electronicgearing(noprogrammingrequired)

•Electroniccamswithprogrammableprofiles

Safety Features

•Hardwareandsoftwareovertravellimits

•Amplifierenable/faulthandshaking

•Followingerrorlimits

•Integratedcurrentlimit

•Encoderlossdetection

•Watchdogtimer

•Error-correctingmemory

•Collisionavoidancealgorithmscanbeimplementedininverse

kinematic subroutines

Fieldbus Connectivity:

- EtherNet/IP Adapter (Server)

- DeviceNet (Master/Slave)

- PROFIBUS (Master/Slave)

- CANopen (Master/Slave)

- CC-Link (Slave)

- Modbus

Fiber-Optic or RJ45

Real-Time motion Networks:

MACRO or EtherCAT

1GB

Ethernet

Host Computer

The Power PMAC can

provide an embedded

operator interface,

eliminating the need

for a separate PC.

PLC/PAC System

HDMI

or DVI

or

The Motion Computer and Industrial Network Connectivity

Capable of communicating simultaneously to most real-time motion

networks and fieldbuses.

… a universal CPU in a format that’s right for you.

• MostreliableMotionNetworkbuilton

100-Base Ethernet

• ReducedHardwareCostwithIncreased

Performance

• 125Megabits/secondDataRate

• AvailablewithOpticalFiberforCompleteNoise

Immunity (up to 1 mile) or RJ-45 Cat-5 Cable for

Low Cost (up to 100 feet)

• 1to16Masters,16to256Slaves

• Supports128Motionand128I/ONodes

• CentralizedSoftware,DistributedHardware

Interface to EtherCAT Amplifiers:

Supports CoE, FoE, EoE and specifically the

DS402 spec. for CoE drives in Cyclic Position,

Velocity or Torque modes.

Interface to EtherCAT Peripherals:

Any EtherCAT I/O Device, Bridge module, etc…

®

Technology GroupMotion And Control Ring Optical

The Light Link in Motion . . .

Up to 256 Axes

Drives and Motors Remote I/O

Program in your Favorite Language

Programming LanguagesDelta Tau controllers can be programmed in several

different types of languages simultaneously. Choose

your preference for motion and PLCs.

The PMAC Script Language

PMAC Script Language is a “Basic-like”

programming language used to write Motion, PLC and

sub-routines. The Power PMAC offers an enhanced

versionwithevenmoreflexibilityanduserfriendliness.

“C” Language

For advanced programmers who prefer to

program in C, the Power PMAC gives you the ability

to write Servo, Phase, and Kinematic algorithms in C,

as well as PLCs and general-purpose applications.

Other Programming/Software methods available

G-Code

Power PMAC can accept standard RS-274

“G-code” part programs, as generated by CAD/

CAM programs. Codes are implemented with

customizable subroutines.

LabVIEW™

The communication library and IDE

components integrate seamlessly into

the NI LabVIEW™ graphical programming

environment.

MATLAB®/Simulink®

C-code automatically generated from the

MATLAB®/Simulink® graphical environment

can easily be run on controllers for

servo, commutation, or other tasks.

EPICS & Tango

The open-source collaborative EPICS scientific experiment management

software can be run directly on all controllers, eliminating the need for

a separate embedded computer.

Power PMAC Integrated Development Environment (IDE)

Includes all the necessary tools for setting up, developing, managing, and diagnosing your Power PMAC application:

•MicrosoftWindows™ 32/64-bit operating systems for XP, Vista or 7/8.

•Advancededitorwithbuilt-indebuggingfeatures

•Extensiveprojectandresource-managementfeatures

•IntegratedGNUCcross-compiler

•Interactiveterminalwindow

•Manystatusandsetupwindows

•Tuningandplottinggraphicsscreens

•IntellisenseandSyntaxChecking

•StructuredProgramming

•CAMGenerator

System Setup

•HardwareAuto-identify

•Easy-to-useDiagnostics

•Step-by-stepMotorSetup

•Step-by-stepNetworkSetup

•Expandable&PortableMotor&AmplifierSetupDatabase

Powerful Tuning Tools

•BasicAuto-Tune

•AdvancedAuto-Tuning

•ServoAnalyzerwithInteractiveTuningTool

•TrajectoryPre-Filter

•AdvancedFeedback/FeedforwardFilterCalculator

•SingleandDoubleNotchFilter

•SingleandDoubleNotchFilter+LowPassFilter

•LowPassFilter

•VelocityLoopFilter

•CustomServoandPhasealgorithmselectionGUI

The IDE was designed using Microsoft Visual Studio™, comprised of

several “.Net” components, which can also be used with your custom

application software.

Program editor with color code, syntax checking and structured programming.

Display windows for Position, Following Error, Velocity, etc…

Intellisense and Auto-completion of programming commands.

Error and status monitors and parameter watch table.

Project Management provides an organized tree structure for each function or structure within the project.